/PROG  TL2_DROP
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "TOOL1 DROP";
PROG_SIZE	= 1388;
CREATE		= DATE 12-04-21  TIME 12:14:32;
MODIFIED	= DATE 25-02-22  TIME 16:20:18;
FILE_NAME	= TL1_DROP;
VERSION		= 0;
LINE_COUNT	= 29;
MEMORY_SIZE	= 1776;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:   ;
   2:  LBL[10] ;
   3:  UFRAME_NUM=0 ;
   4:  UTOOL_NUM=1 ;
   5:  WAIT DI[26:TOOL #2]=OFF    ;
   6:J P[15:CLEAR] 30% CNT80    ;
   7:  OVERRIDE=50% ;
   8:   ;
   9:L P[4:APPROACH] 600mm/sec CNT100    ;
  10:  WAIT DI[26:TOOL #2]=OFF    ;
  11:L P[5:APPROACH] 300mm/sec CNT100    ;
  12:L P[6:APPROACH] 300mm/sec FINE    ;
  13:L P[7:DROP] 100mm/sec FINE ACC50 DB    0.0mm,DO[21:TOOL2 POS]=ON    ;
  14:  DO[21:TOOL2 POS]=ON ;
  15:  DO[13:REQ ATC CHUCK]=OFF ;
  16:  DO[14:REQ ATC UNCHUCK]=ON ;
  17:  WAIT DI[14:ATC UNCHUCK OK]=ON    ;
  18:  WAIT   1.00(sec) ;
  19:  DO[14:REQ ATC UNCHUCK]=OFF ;
  20:L P[8:APPROACH] 100mm/sec CNT50 ACC50 DB    0.0mm,DO[21:TOOL2 POS]=OFF    ;
  21:  WAIT DI[26:TOOL #2]=ON    ;
  22:L P[9:APPROACH] 300mm/sec CNT50    ;
  23:L P[1:APPROACH] 300mm/sec CNT50    ;
  24:L P[2:CLEAR] 4800mm/sec CNT50 ACC70    ;
  25:J P[3:CLEAR] 80% CNT100    ;
  26:   ;
  27:   ;
  28:   ;
  29:  MOVE TO HOME    ;
/POS
P[1:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3232.821  mm,	Y =  -694.238  mm,	Z =  -900.000  mm,
	W =  -180.000 deg,	P =    89.668 deg,	R =   -90.000 deg,
	E1=    15.275 deg
};
P[2:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  2908.144  mm,	Y = -1118.831  mm,	Z =  -484.036  mm,
	W =  -180.000 deg,	P =     -.000 deg,	R =   -87.804 deg,
	E1=    15.275 deg
};
P[3:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  1964.311  mm,	Y =     -.007  mm,	Z =  -484.864  mm,
	W =   180.000 deg,	P =     -.000 deg,	R =  -180.000 deg,
	E1=   107.700 deg
};
P[4:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3232.822  mm,	Y =  -742.561  mm,	Z = -1209.220  mm,
	W =  -180.000 deg,	P =    89.668 deg,	R =   -90.000 deg,
	E1=    15.275 deg
};
P[5:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3231.368  mm,	Y =  -694.000  mm,	Z = -1374.000  mm,
	W =   179.620 deg,	P =    89.668 deg,	R =   -90.380 deg,
	E1=    15.275 deg
};
P[6:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3242.504  mm,	Y =  -483.369  mm,	Z = -1374.291  mm,
	W =   178.485 deg,	P =    89.569 deg,	R =   -91.518 deg,
	E1=    15.282 deg
};
P[7:"DROP"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3242.491  mm,	Y =  -483.335  mm,	Z = -1440.000  mm,
	W =   178.374 deg,	P =    89.569 deg,	R =   -91.628 deg,
	E1=    15.287 deg
};
P[8:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3236.955  mm,	Y =  -667.113  mm,	Z = -1440.000  mm,
	W =   179.545 deg,	P =    89.572 deg,	R =   -90.459 deg,
	E1=    15.282 deg
};
P[9:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3226.813  mm,	Y =  -627.997  mm,	Z = -1200.607  mm,
	W =   179.357 deg,	P =    89.587 deg,	R =   -90.645 deg,
	E1=    15.276 deg
};
P[15:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3088.719  mm,	Y = -1056.328  mm,	Z =  -484.865  mm,
	W =  -180.000 deg,	P =     -.000 deg,	R =   -90.603 deg,
	E1=    15.275 deg
};
/END
